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Merge pull request #2863 from ey6es/master

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Added alternate IK method for Hydras from code provided by Sixense.
This commit is contained in:
AndrewMeadows 2014-05-15 17:29:27 -07:00
commit 0f2cb46188
4 changed files with 74 additions and 2 deletions
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1
interface/src/Menu.cpp
View file

@ -351,6 +351,7 @@ Menu::Menu() :
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::HandsCollideWithSelf, 0, false);
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::ShowIKConstraints, 0, false);
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::AlignForearmsWithWrists, 0, true);
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::AlternateIK, 0, false);
addDisabledActionAndSeparator(developerMenu, "Testing");

1
interface/src/Menu.h
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@ -267,6 +267,7 @@ private:
namespace MenuOption {
const QString AboutApp = "About Interface";
const QString AlignForearmsWithWrists = "Align Forearms with Wrists";
const QString AlternateIK = "Alternate IK";
const QString AmbientOcclusion = "Ambient Occlusion";
const QString Atmosphere = "Atmosphere";
const QString Attachments = "Attachments...";

73
interface/src/avatar/SkeletonModel.cpp
View file

@ -164,7 +164,8 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
// rotate palm to align with its normal (normal points out of hand's palm)
glm::quat palmRotation;
if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
if (!Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK) &&
Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
getJointRotation(parentJointIndex, palmRotation, true);
} else {
getJointRotation(jointIndex, palmRotation, true);
@ -176,7 +177,10 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
palmRotation = rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), direction) * palmRotation;
// set hand position, rotation
if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
if (Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK)) {
setHandPosition(jointIndex, palm.getPosition(), palmRotation);
} else if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
glm::vec3 forearmVector = palmRotation * glm::vec3(sign, 0.0f, 0.0f);
setJointPosition(parentJointIndex, palm.getPosition() + forearmVector *
geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale));
@ -276,3 +280,68 @@ void SkeletonModel::renderJointConstraints(int jointIndex) {
glLineWidth(1.0f);
}
void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation) {
// this algorithm is from sample code from sixense
const FBXGeometry& geometry = _geometry->getFBXGeometry();
int elbowJointIndex = geometry.joints.at(jointIndex).parentIndex;
if (elbowJointIndex == -1) {
return;
}
int shoulderJointIndex = geometry.joints.at(elbowJointIndex).parentIndex;
glm::vec3 shoulderPosition;
if (!getJointPosition(shoulderJointIndex, shoulderPosition)) {
return;
}
// precomputed lengths
float scale = extractUniformScale(_scale);
float upperArmLength = geometry.joints.at(elbowJointIndex).distanceToParent * scale;
float lowerArmLength = geometry.joints.at(jointIndex).distanceToParent * scale;
// first set wrist position
glm::vec3 wristPosition = position;
glm::vec3 shoulderToWrist = wristPosition - shoulderPosition;
float distanceToWrist = glm::length(shoulderToWrist);
// prevent gimbal lock
if (distanceToWrist > upperArmLength + lowerArmLength - EPSILON) {
distanceToWrist = upperArmLength + lowerArmLength - EPSILON;
shoulderToWrist = glm::normalize(shoulderToWrist) * distanceToWrist;
wristPosition = shoulderPosition + shoulderToWrist;
}
// cosine of angle from upper arm to hand vector
float cosA = (upperArmLength * upperArmLength + distanceToWrist * distanceToWrist - lowerArmLength * lowerArmLength) /
(2 * upperArmLength * distanceToWrist);
float mid = upperArmLength * cosA;
float height = sqrt(upperArmLength * upperArmLength + mid * mid - 2 * upperArmLength * mid * cosA);
// direction of the elbow
glm::vec3 handNormal = glm::cross(rotation * glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow rotating with wrist
glm::vec3 relaxedNormal = glm::cross(glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow pointing straight down
const float NORMAL_WEIGHT = 0.5f;
glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT);
bool rightHand = (jointIndex == geometry.rightHandJointIndex);
if (rightHand ? (finalNormal.y > 0.0f) : (finalNormal.y < 0.0f)) {
finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis)
}
glm::vec3 tangent = glm::normalize(glm::cross(shoulderToWrist, finalNormal));
// ik solution
glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height;
glm::vec3 forwardVector(rightHand ? -1.0f : 1.0f, 0.0f, 0.0f);
glm::quat shoulderRotation;
getJointRotation(shoulderJointIndex, shoulderRotation, true);
applyRotationDelta(shoulderJointIndex, rotationBetween(shoulderRotation * forwardVector, elbowPosition - shoulderPosition), false);
glm::quat elbowRotation;
getJointRotation(elbowJointIndex, elbowRotation, true);
applyRotationDelta(elbowJointIndex, rotationBetween(elbowRotation * forwardVector, wristPosition - elbowPosition), false);
setJointRotation(jointIndex, rotation, true);
}

1
interface/src/avatar/SkeletonModel.h
View file

@ -51,6 +51,7 @@ protected:
private:
void renderJointConstraints(int jointIndex);
void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
Avatar* _owningAvatar;
};